Video time code synchronized robot control apparatus

ABSTRACT

The stored robot control program defining the path of movement of a robot arm carrying a video camera is synchronized to time code information recorded on a video tape. Video signals from the video camera are recorded on the video tape by a video tape recorder along with time code information from a time code generator. A time code reader decodes the time code information from the video tape or from the video tape recorder and supplies the decoded time code information to a robot controller. The time code information specifying the address of each frame of video signal is synchronized with the robot control program to enable the robot arm to be positioned in the same identical positional coordinates corresponding to the position of the robot arm when a particular frame of video signal was originally generated.

BACKGROUND OF THE INVENTION

The present invention relates to robots and, also, to apparatus forcomposing video source material.

In the production of audiovisual films, videos, television commercials,movies, and the like, a video camera is used to record video imagesand/or audio signals on a video tape. The video tape may be carrieddirectly by the camera, as in a video camcorder, or the video imagesfrom a video camera may be output to a video tape recorder (VTR) whichrecords the video images on a video tape. The video tape can then beplayed back to review the recorded images.

As frequently occurs during the production of audiovisual materials, itis oftentimes necessary to re-shoot some portion of the recordedsequence of images. When this occurs, the video tape must be rewound tothe desired position or frame to enable new video images to be recordedover old images or new video images are recorded on a separate tape.After the new and old images are recorded on different tapes, the twovideo tapes are then edited by merging the desired portions of the twotapes into a single tape to form the desired sequence of video images. Anumber of video tape editing devices are available to perform suchediting operations.

Time code generators are also well known and are used to generatestandardized time codes. Such time codes are developed according tostandards set by the SMPTE (Society of Motion Picture and TelevisionEngineers) and the EBU (European Broadcasting Union). The time codes areformed of a binary code corresponding to hours, minutes, seconds andframe number of each frame of a video signal starting from a zero pointand continuing during the entire video image running time. The time codeinformation is encoded onto a recording medium by a video tape recorderon a separate track from the tracks containing the video information foreach frame of the video signal. The recorded time code information actsas an address to identify each frame to permit electronic editing ofvideo tapes.

During editing, time code readers are employed to locate a particularframe on a video tape. However, such editing is a time consuming processrequiring a considerable amount of skill and costly time codegenerators, time code readers and tape synchronizers which result inhigh post production costs to form a complete audiovisual tape.

As described above, it is often necessary during the production ofaudiovisual material to re-shoot the same sequence of images many timesbefore a final sequence is obtained. The camera and/or the object(s)being filmed must be moved through the same path of movement with onlythe desired variations being introduced in each separate re-shoot.Various devices have been employed to repeatedly move an object and/orcamera through a predetermined path.

Robots have been developed, primarily for industrial applications, tomove a tool, etc., mounted at the end of an end effector on a robot armin a predetermined multi-axis path of movement according to a storedprogram executed by a robot controller.

It is known to mount a camera on the movable arm of a robot so as to beable to repeatedly move the camera through a predetermined path ofmovement while the camera is operated to record a sequence of videoimages. However, heretofore, there has been no known attempt tosynchronize the movement of the robot as it executes its stored controlprogram with the advance or reverse movement of a video recording mediumstoring video images in a predetermined sequence to enable the robot andthe recording medium to be moved in synchronization to a predeterminedposition corresponding to a particular frame on the video tape with therobot being positioned in the same position as it was while the imagewas shot. The different speeds of the film transport in the video cameraand/or video tape recorder and the motors controlling the position andspeed of movement of the robot arm have made such synchronizationdifficult and have resulted in hit or miss efforts to position a robotin a particular position in multiple axes corresponding to a particularrobot position in a particular frame on a video tape.

Thus, it would be desirable to provide an apparatus for synchronizingrobot or machine movement with a video recording medium such that therobot or machine can be positioned in the same position as recorded oneach frame of the video tape. It would also be desirable to provide anapparatus for use with a robot or machine and a video recordingapparatus which enables the robot arm to be moved to any positioncorresponding to a particular frame of a recorded video image whileremaining synchronized in time with the video recording.

SUMMARY OF THE INVENTION

The present invention is a video time code synchronized robot controlapparatus which synchronizes the position of a robot or other automatedmachine having a camera mounted on a movable robot arm with theframe-by-frame images on a video recording medium.

The apparatus includes a robot or machine having an arm movable througha path of movement. A video camera is mounted on the arm and generatesvideo signals during movement of the camera along the path of movementof the arm. A time code generator means generates time code informationfor use with the video signals from the video camera. A video taperecorder in response to the video signals from the video camera and thetime code information from the time code generator means records acomposite video signal formed of the video signal from the video cameraand the time code information from the time code generator onto a videorecording medium.

A time code reader means is responsive to the composite video signaloutput from the video tape recorder and decodes the time codeinformation. The decoded time code information is input to a robotcontroller means which controls the path of movement of the robot arm inaccordance with a taught and/or stored program. The robot controller, inresponse to the decoded time code information from the time code reader,synchronizes the movement of the robot arm along its programmed path ofmovement with the time code information on a video image frame-by-framebasis.

In one embodiment, the video signals from the video camera are input toa time code generator which generates time code information for eachframe of video signals. The video signals and the time code informationare then output to a video tape recorder which records a compositesignal of the video signal and the time code information onto a videotape recording medium. A video monitor may also be provided andcontrolled by the video tape recorder for displaying the video images.On a real time basis or during playback of the video tape in the videotape recorder, the time code information on the video tape is decoded bya time code reader which outputs the decoded time code information tothe robot controller. In another embodiment, the output of the videocamera and the time code information from the time code generator areseparately input to a video tape recorder which records the compositesignal formed of the video images and the time code information ontoseparate tracks of a video recording medium or tape. The output from thevideo tape recorder is decoded by the time code reader and input to therobot controller as in the first embodiment.

In yet another embodiment, the video signals from the video camera areinput to a combined time code qenerator/reader. The time code generatorportion of the combined time code generator/reader generates time codeinformation and outputs the video images and the generated time codes toa video tape recorder which stores the video images and the time codeinformation on a video tape. The output of the video tape recorder isinput to the combined time code generator/reader which decodes the timecode information and outputs the decoded time code information to therobot controller.

The decoded time code information from the time code reader issynchronized with the multi-axis positional coordinates of the robotcontrol program by any of a number of different means. In an exemplaryembodiment, the robot controller, upon receiving the decoded time codeinformation, generates and stores in memory the time code informationfor each frame of the video signal and the multi-axis robot armpositional coordinates corresponding to each frame. In this manner, uponreceipt of a particular time code defining a particular frame of thevideo signal, the robot controller can position the robot arm in thepositional coordinates corresponding to those at which the particularvideo image was originally taken.

The unique video time code synchronized robot control apparatus of thepresent invention simplifies the production of audiovisual materials byenabling the video images stored frame-by-frame on a video tape to becoordinated in time with the positional coordinates of a multi-axisrobot controller. This enables the robot controller to move its armcarrying the video camera to the same position in which a particularframe of video signals was generated. This simplifies the editing ofvideo tapes by enabling the robot to be moved to any desired position insynchronization with the video images and new video images generated andrecorded onto the same tape. This also simplifies post productionediting of multiple video tapes and insures that the robot, the robotarm and the video camera carried by the robot arm are in the sameidentical position corresponding to each frame of the video signals.

BRIEF DESCRIPTION OF THE DRAWING

The various features, advantages and other uses of the present inventionwill become more apparent by referring to the following detaileddescription and drawing in which:

FIG. 1 is a perspective view of a robot apparatus designed to move avideo camera through a predetermined, programmed path of movement;

FIG. 2 is a perspective view of another embodiment of a robot apparatususable with the present invention;

FIG. 3 is a block diagram of one embodiment of the apparatus of thepresent invention;

FIG. 4 is a block diagram of another embodiment of the apparatus of thepresent invention; and

FIG. 5 is a block diagram of yet another embodiment of the apparatus ofthe present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring now to FIG. 1, there is depicted one embodiment of a robotcontrol apparatus usable with the present invention. It will beunderstood that any type of robot, such as a gantry-type robot 10 shownin FIG. 1, as well as pedestal robots may also be used. Further, theterm "robot" is also meant to include any machine which is capable ofrepeatedly moving an arm or member thereof along a predetermined path ofmovement.

By way of example only, the robot 10 is an AEG 8000 Series gantry-typerobot. This robot I0 includes four frame members, only two of which 12and 14 are shown in FIG. 1. The frame members 12 and 14 are supportedabove a floor by a plurality of upright legs 16.

The frame members 12 and 14 are disposed in parallel and spaced apart.The frame members 12 and 14 are formed as channel-like members whichslidably support horizontal sliders 18 and 20, respectively. Thehorizontal sliders 18 and 20 are slidably disposed in the frame members12 and 14, respectively, and are movable along an axis, hereafterdenoted as the X axis. A horizontal slider drive means is provided fordriving the horizontal sliders 18 and 20 in a bi-directional manneralong the frame members 12 and 14. By way of example only, the drivemeans comprises an electric motor 22 mounted at one end of the framemember 14. The output shaft of the motor 22 is mounted in a bearing andengages a drive pulley, not shown. A similar drive pulley is mounted inthe frame member 12 and is connected to the output shaft of the motor bya coupling shaft 24. A timing belt, not shown, is mounted in each of theframe members 12 and 14 and is operably coupled to the drive pulleysassociated with the motor 22. Rotation of the output shaft and drivepulleys by the motor 22 results in movement of the timing belt whichdrives the horizontal sliders 18 and 20 reciprocatingly along the framemembers 12 and 14.

A pair of spaced, channel-like cross members 28 and 30 are mounted atopposite ends to the horizontal sliders 18 and 20 and span thehorizontal sliders 18 and 20. The cross members 28 and 30 extend along aY axis perpendicular to the X axis defined by the frame members 12 and14. A carriage 32 is slidably mounted on the cross members 28 and 30 andis reciprocatingly driven along the cross members 28 and 30 by a Y axisdrive motor 34 mounted on one end of the cross members 28 and 30. Atiming belt extends through the cross member 28 and is reciprocatinglydriven through a pulley by the Y axis drive motor 34. The timing belt iscoupled to the carriage 32 and drives the carriage 32 reciprocatinglyalong the Y axis upon activation of the Y axis drive motor 34.

A third or Z axis drive motor 40 is mounted on the carriage 32 andreciprocatingly moves a Z axis channel 42 substantially verticallythrough the carriage 32.

An end effector 50 is slidably mounted on the Z axis channel 42 and isvertically movable along with the channel 42 in response tobi-directional rotation of the output shaft of the Z axis motor 40. Aconventional video camera 52 is mounted on the end effector and is movedby the robot apparatus 10 along a programmed multi-axis path ofmovement.

The electrical control signals to the various drive motors 22, 34 and 40as well as feedback signals, etc., pass through a junction box 54 andare supplied by electrical conductors, cables, etc., mounted in cablecarriers 26 and 36 to a robot controller means 56. Any conventionalrobot controller 56 may be employed, such as a Modicon 3240/3220Flexible Automation Controller, for example only. Such a robotcontroller includes a central processing unit or computer which executesa control program stored in a memory. A keyboard and a display, notshown, are also provided with the robot controller 56. As isconventional, such robot controllers 56 are adapted for learning aparticular path of movement of the end effector 50. In such a learningor teach mode, the end effector 50 is manually moved or jogged through apredetermined multi-axis path of movement and each step or sequence ofsteps are input to the robot controller which stores the multi-axispositional coordinates of the robot arm, i.e., the Z axis channel 42, ateach step. The sequence of steps thus defines the predetermined path ofmovement of the end effector 50 and the camera 52 mounted on the arm orZ axis channel 42.

FIG. 2 depicts another embodiment of a robot 60 usable with the presentinvention. The robot 60 includes the same gantry-type robot describedabove and shown in FIG. 1. However, in this embodiment the Z axischannel 42 is replaced by a second robot 62. The second robot 62 ismounted to the Y axis carriage 32 and thus is movable by the gantryrobot 10 along the X and Z axes under the control of the robotcontroller 56.

The second robot 62 may be any type of pedestal-type robot, such as aMotoman K10 robot sold by Yaskawa Electric Mfg. Co., Ltd. The robot 62includes a movable arm 64 to which a video camera 52 is mounted by meansof a bracket 66. The robot 62 and the movable arm 64, which arecontrolled by the same robot controller 56 controlling the gantry robot10, provides a greater freedom of movement for the camera 52 inconjunction with the X and Y axis movements provided by the gantryrobot. In both of the robots 10 and 62, a rotatable end effector may bemounted on the robot arm to support the video camera 52 and provide anadditional axis of movement to the video camera 52.

Referring now to FIG. 3, there is depicted one embodiment of a videotime code synchronization control apparatus which coordinates videoimage time codes with the positional coordinates stored in the robotcontroller 56 to coordinate the multi-axis position of the robot 56 withthe video images recorded by the video camera 52. As shown in FIG. 3,the video signals output from the video camera 52 during movement of thecamera 52 are input to a conventional time code generator means 70, suchas a time code generator Model No. CDI-716A sold by Cipher Digital. Asis well known, the time code generator means 70 generates a binary timecode for each frame of video signals from the camera 52. The time codesignal is in a standardized format as established by SMPTE (Society ofMotion Picture and Television Engineers) or the EBU (EuropeanBroadcasting Union). The binary time code acts as an address for eachframe of the video image or signals and specifies in encoded form thehour, minutes, seconds and frame number of running time of each frame ofthe sequence of video images from a zero or start frame. In the SMPTEtime code format, a new frame of video signals is generated every 1/30thof a second. In the EBU format, each video signal frame is generatedevery 1/24th of a second. Other formats, such as 24 frame per secondmotion picture film formats, are also possible with the presentinvention.

In the embodiment shown in FIG. 3, the video signals from the videocamera 52 and the time code generated by the time code generator means70 are separately output from the time code generator means 70 to aconventional video tape recorder (VTR) 72. The video tape recorder 72may be any suitable type of video tape recorder, such as abroadcasting-type video tape recorder. Such a video tape recorder 72records a composite signal on a suitable video image recording medium,such as a video tape, which is formed of the video images and theassociated time code on a frame-by-frame basis on separate tracks.

A monitor 74 may optionally be connected to the video tape recorder 72to display the video images from the camera 52 in real time or the videoimages recorded on the video tape during playback.

A time code reader means 76 is connected to the video tape recorder 72and receives time code information from the video tape recorder 72 on aframe-by-frame basis. The time code reader means 76, as is conventional,decodes the time code information and outputs, according to the presentinvention, the decoded time code information to the robot controller 56.The output signals from the time code reader means 76, denoted generallyby reference number 78, may be in RS232 serial or RS422 parallel format.Further, such output signals from the time code reader means 76 may bein the specified form of a serial digital interface standard forcommunicating video equipment with digital equipment.

An alternate embodiment of the present invention is shown in FIG. 4 inwhich the same components as shown in FIG. 3 are connected in adifferent configuration, but provide the same result. As shown in FIG.4, the video signals from the video camera 52 and the time codeinformation from the time code generator means 70 are separately inputto the video tape recorder 72. The video tape recorder 72 forms acomposite signal of the video images and the time code information on aframe-by-frame basis and records the video signals and the time codeinformation on separate tracks on a video tape recording medium in anormal manner. The recorded time codes are then decoded on aframe-by-frame basis by the time code reader means 76 and output to therobot controller 56.

Another embodiment is shown in FIG. 5 in which the video signals fromthe video camera 52 are input to a combined time code generator/reader80. The time code generator/reader 80 may be, by way of example only, atime code reader/generator event controller, Model No. CDI-750, sold byCipher Digital. In the time code generator portion of the time codegenerator/reader 80, time code information is generated for each frameof video signals received from the video camera 52. The video signalsand the time code information are output to the video tape recorder 72on a frame-by-frame basis. The video tape recorder 72 records bothsignals on a video tape recording medium. Time code information on aframe-by-frame basis is output from the video tape recorder 72 to thereader portion of the combined time code generator/reader 80 the timecode information and outputs the decoded time code signals to the robotcontroller 56.

An alternate embodiment of the apparatus shown in FIG. 5 may also beprovided. In the alternate embodiment, as shown in FIG. 4, the outputsof the video camera 52 and time code information from the combined timecode generator/reader 80 may be separate input to the video taperecorder 72 to form the composite signal which is recorded on the videotape by the video tape recorder 72.

In a preferred sequence of operations, it will be assumed that the robot10 or 60 has been moved through a teach mode to learn a desiredmulti-axis path of movement, which path of movement is stored bypositional coordinates in the memory of the robot controller 56. Withthe robots 10 or 10 and 60 positioned at their respective startpositions, execution of the control program by the robot controller 56will cause the robots 10 or 10 and 60 to move the robot arm through itspredetermined path of movement thereby moving the video camera 52 alongthe same predetermined path of movement. Activation of the video camera52 during such movement will cause a series of video signals on aframe-by-frame basis to be generated and output from the video camera52.

Using the apparatus shown in FIG. 3, the video signals from the videocamera 56 will be input to the time code generator means 70 which willgenerate time code information for each frame of video signal. The videosignals and the time code information from the time code generator 70are output to the video tape recorder 72 which records a compositesignal containing the video signals and the time code information on asuitable video tape recording medium on a frame-by-frame basis.

In real time, while the video camera 52 is being moved through itspredetermined path of movement or during playback, the time codeinformation recorded by the video tape recorder 72 on the video tape isoutput to the time code reader means 76 which decodes the time codeinformation and supplies the decoded time code information to the robotcontroller 56.

According to the present invention, the robot controller 56 via asuitable software control program, circuitry or via an external unitcommunicating with the robot controller 56, coordinates the positionalcoordinates of the robot control program with each frame of video signalas defined by the time code information received from the time codereader means 76. This may be implemented, by example only, by the robotcontroller 56 which divides each step or path of movement between twopoints into a number of increments, each at a time period correspondingto the time interval of each frame of video images or signals, i.e.,every 1/30th or 1/24th second. The robot controller 56 learns and storesin memory the multi-axis positional coordinates of the robot arm at each1/30th or 1/24th of a second. This links the multi-axis positionalcoordinates of the robot with the time code defining each frame of videosignal.

After the robot controller 56 has completed the control program andmoved the robot 10 or 60 through its predetermined path of movement, thesynchronizing information synchronizing the time code with thepositional coordinates of the robot corresponding to each frame of videosignal may then be utilized to move the robot controller to any desiredposition in its predetermined path of movement during advance or rewindof the video tape on which the video signals have been recorded by thevideo tape recorder 72. As each frame of video signal on the video tapehas a specific time code associated therewith, the robot controller 56via the learned positional coordinates in memory can determine themulti-axis coordinates of the robot 10 or 60 corresponding to each timecode of video information and thereby move the robot 10 or 60 to suchcoordinates as each frame of video information advances through thevideo tape recorder 72. The video tape recorder 72 may be stopped at anyframe at which time the robot 10 or 60 will be precisely positioned inthe same positional coordinates as it was when the video image recordedon the particular frame on the video tape was first taken. Thissimplifies editing since any portion of the video image on the videotape may be re-shot starting with the position of the robot at anyposition along its predetermined path of movement.

In summary, there has been disclosed a video time code synchronizedrobot control apparatus which coordinates time code informationassociated with each frame of a video image recorded on a video tapewith the stored positional coordinates of a robot apparatus to enablethe robot apparatus to be moved to a position corresponding to theposition of its components when a particular frame of video image wasfirst taken. Editing of the video tape as required to re-shoot aparticular portion of an overall image sequence may easily be done onthe same tape by moving the robot to any predetermined position alongits path of movement corresponding to a particular frame of video image.The succeeding portion of the robot movement and/or the object beingimaged may then be varied and new video images generated as the robotmoves through its existing path of movement or a revised path ofmovement.

What is claimed is:
 1. A video time code synchronized robot controlapparatus comprising:a robot including an arm movable through a path ofmovement; a video camera, mounted on the arm of the robot, forgenerating video signals during operation of the video camera; time codegenerator means for generating time code information; video imagestoring means, responsive to the video signals from the video camera andthe time code information from the time code generator means for storinga composite signal formed of the video signals and the time codeinformation on a storage medium; time code reader means, responsive tothe composite video signal from the video image storing means, fordecoding the time code information for each frame of the compositesignal; and robot controller means for controlling the path of movementof the robot arm in accordance with a stored control program, the robotcontroller means being responsive to the time code information forstoring the position coordinates of the robot arm along the path ofmovement for each distinct time code associated with the video signal ona video signal frame by frame basis and for synchronizing the movementof the robot arm along its predetermined path of movement with the timecode information during the generation of video signals and time codeinformation from the storage medium on a frame-by-frame basis.
 2. Theapparatus of claim 1 further comprising:monitor means, connected to thevideo image storing means, for displaying video images from one of thevideo camera and the composite image recorded on the storage medium. 3.A video time code synchronized robot control apparatus comprising:arobot including an arm movable through a path of movement; a videocamera, mounted on the arm of the robot, for generating video signalsduring movement of the video camera; time code generator means forgenerating time code information; the video signals from the videocamera being output to the time code generator means; video recordermeans, responsive to the video signals from the video camera and thetime code information from the time code generator means, for recordinga composite signal formed of the video signals and the time codeinformation on a recording medium; the time code generator meansoutputting the video signals and the time code information to the videorecorder means; time code reader means, responsive to the compositevideo signal from the video recorder means, for decoding the time codeinformation for each frame of the composite signal; and robot controllermeans for controlling the path of movement of the robot arm inaccordance with a stored control program, the robot controller meansbeing responsive to the decoded time code information from the time codereader for synchronizing the movement of the robot arm along itspredetermined path of movement with the time code information from thetime code reader on a frame-by-frame basis.
 4. The apparatus of claim 3wherein the composite signal from the video tape recorder is input tothe time code reader means.
 5. A video time code synchronized robotcontrol apparatus comprising:a robot including an arm movable through apath of movement; a video camera, mounted on the arm of the robot, forgenerating video signals during movement of the video camera; time codegenerator means for generating time code information; video recordermeans, responsive to the video signals from the video camera and thetime code information from the time code generator means, for recordinga composite signal formed of the video signals and the time codeinformation on a recording medium; the video signals from the videocamera being output to the video recorder means; the time codeinformation from the time code generator means being output to the videorecorder means; time code reader means, responsive to the compositevideo signal from the video recorder means, for decoding the time codeinformation for each frame of the composite signal; and robot controllermeans for controlling the path of movement of the robot arm inaccordance with a stored control program, the robot controller meansbeing responsive to the decoded time code information from the time codereader for synchronizing the movement of the robot arm along itspredetermined path of movement with the time code information from thetime code reader on a frame-by-frame basis.
 6. The apparatus of claim 5wherein:the composite signal from the video tape recorder is input tothe time code reader means.
 7. A video time code synchronized robotcontrol apparatus comprising:a robot including an arm movable through apath of movement; a video camera, mounted on the arm of the robot, forgenerating video signals during movement of the video camera; combinedvideo time code generator and reader means for separately generatingtime code information and for decoding time code information, videorecorder means, responsive to the video signals and the time codeinformation from the combined time code generator and reader means, forrecording a composite signal formed of the video signals and the timecode information on a recording medium; the time code information beingoutput from the video recorder means to the reader portion of thecombined time code generator and reader means; and robot controllermeans for controlling the path of movement of the robot arm inaccordance with a stored control program, the robot controller meansbeing responsive to the decoded time code information from the combinedtime code generator and reader means for synchronizing the movement ofthe robot arm along its predetermined path of movement with the timecode information from the combined time code generator and reader meanson a frame-by-frame basis.
 8. The apparatus of claim 7 wherein thecomposite signal from the video tape recorder is input to the combinedtime code generator and reader means for decoding the time codeinformation and for outputting the decoded time code information to therobot controller.
 9. A video time code synchronized robot controlapparatus comprising:a robot including an arm movable through a path ofmovement; a video camera, mounted on the arm of the robot, forgenerating video signals during movement of the video camera; time codegenerator means for generating time code information; video recordermeans, responsive to the video signals from the video camera and thetime code information from the time code generator means, for recordinga composite signal formed of the video signals and the time codeinformation on a recording medium; time code reader means, responsive tothe composite video signal from the video recorder means, for decodingthe time code information for each frame of the composite signal; androbot controller means for controlling the path of movement of the robotarm in accordance with a stored control program, the robot controllermeans being responsive to the decoded time code information from thetime code reader for synchronizing the movement of the robot arm alongits predetermined path of movement with the time code information fromthe time code reader on a frame-by-frame basis the robot controllermeans including:means for identifying the positional coordinate of therobot arm corresponding in time with each frame of video signalsgenerated by the video camera; and the robot controller means furtherincluding means for moving the robot arm to the identified positionalcoordinates corresponding to any frame of video signals as the time codeinformation identifying the any frame of video signals is input theretofrom the time code reader means.
 10. A method of generating video imagescomprising:programming a robot to repeatedly move a video camera mountedon the end of a movable arm of the robot through a predetermined path ofmovement; operating the video camera to generate video signals from thecamera during movement of the arm of the robot along the predeterminedpath of movement; generating video signal frame identificationinformation in conjunction with the generation of video signals on aframe-by-frame basis of the generated video signals;storing the positioncoordinates of the robot arm along the predetermined path of movementfor each distinct one of the video signal frame identificationinformation on a video signal frame-by-frame basis; storing the videosignals and the video signal frame identification information as acomposite signal on a storage medium on a frame-by-frame basis; andsynchronizing the movement of the robot arm along the predetermined pathof movement with the video signal frame identification informationduring the generation of video signals from the storage medium such thatthe arm of the robot is position by the robot controller in the sameposition for each frame of video signal from the storage medium as wheneach frame of video signal was initially generated by the video camera.11. The method of claim 10 wherein the step of generating video signalframe identification information comprises the step of:generating timecode information for each frame of video signal generated by the videocamera.
 12. A method of generating video images comprising:programming arobot to repeatedly move an end of a movable arm of the robot through apredetermined path of movement; operating a video camera to generatevideo signals of visual images along the predetermined path of movementfrom the camera during movement of the arm of the robot along thepredetermined path of movement; storing the position coordinates of therobot arm along the predetermined path of movement for each distinctframe of the video signal generated by the video camera on a videosignal frame-by-frame basis; storing the video signals on a storagemedium on a video signal frame-by-frame basis; and synchronizing themovement of the robot arm along the predetermined path of movement witheach frame of video signal during the generation of stored video signalsfrom the storage medium such that the arm of the robot is positioned bythe robot controller in the same position for each frame of video signaloperated from the storage medium as when each frame of video signal wasinitially generated by the video camera.
 13. The method of claim 12wherein the step of storing the position coordinates of the robot armfurther comprises the step of:storing the position coordinates of therobot arm in a memory; and storing with each position coordinate aunique video signal frame identification data.
 14. The method of claim13 wherein the step of synchronizing further comprises the stepsof:generating video signals from the storage medium on a frame-by-framebasis; generating the video frame identification data for each frame ofvideo signal generated from the storage medium; accessing the memory toidentify the position coordinates of the robot arm associated with eachgenerated video signal identification data; and moving the robot arm tothe identified position coordinates on a video signal frame-by-framebasis as the video signals are generated from the storage medium.